Robot Manipulators: Mathematics, Programming, and Control
Robot Manipulators: Mathematics, Programming, and Control
The hybrid position and force control of robots with compliance function
MACMESE'08 Proceedings of the 10th WSEAS international conference on Mathematical and computational methods in science and engineering
Hierarchical Bayesian reliability analysis of complex dynamical systems
AEE'10 Proceedings of the 9th WSEAS international conference on Applications of electrical engineering
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This paper takes the already known hybrid force-position control, and use it for a hybrid control manipulator with four degrees of freedom, from which 3 rotational and one translational. Control system used, use direct kinematics for finding the current position of the end-effector, and calculates the positioning error using the transposed Jacobian matrix. To observe the effectiveness of the control loops and controllers was modeled using Matlab Simulink, the proposed control system. Based on the obtained graphs and presented in this paper, the control system was tested in a virtual environment, where there are no risks of damage or injury to personnel. Using this test mode, one can achieve better control methods with varied performances, before moving to hardware implementation.